Medical instrument box, ultrasonic knife and surgical robot

Abstract

The utility model discloses a medical instrument box, an ultrasonic knife and a surgical robot, and belongs to the field of medical instruments. A medical instrument cartridge includes a base, a first rotary input member, and a rotary output member. The first rotary input member is rotatably disposed on the base. The rotary output part is rotatably arranged on the base, and the first rotary input part rotates to drive the rotary output part to rotate. Wherein the first rotary input piece is provided with a first positioning mark, and the rotary output piece is provided with a second positioning mark corresponding to the first positioning mark. According to the medical instrument box, the rotary input part and the rotary output part can be conveniently positioned during assembly.

Description

Technical Field

[0001] The utility model relates to the field of medical devices, and in particular to a medical device box, an ultrasonic scalpel and a surgical robot. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has gained widespread application due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations such as hand tremors during filtering operations. They are widely applicable to surgical areas such as the abdominal, pelvic, and thoracic cavities. A surgical robot generally consists of a medical device box, a power box, and a sterile isolation plate connecting the two. The power box drives the movement of the medical device box to complete the surgical operation.

[0003] During the operation, the driving motor of the power box generally drives the rotating input part to rotate, thereby driving the rotating output part engaged with the rotating input part to rotate, and then driving the execution end of the medical device box to rotate. Since the surgical robot generally detects the rotation angle of the rotating input part by the rotation angle of the driving motor, and then detects the rotation angle of the rotating output part and the execution end, when installing the medical device box, because the ultrasonic knife has no rotation limit (without considering the transducer line), the whole can rotate infinitely, so the zero position cannot be determined. It is necessary to ensure the zero position setting during installation so that when the driving motor is at zero position (the driving motor has rotated an integer number of circles relative to the initial position), the direction of the execution end is certain. In the existing technology, it is generally installed through tooling to ensure alignment, and the installation process is relatively cumbersome. Utility Model Content

[0004] The embodiments of the present utility model provide a medical instrument box, an ultrasonic scalpel, and a surgical robot, which can facilitate the positioning of a rotation input part and a rotation output part during assembly.

[0005] In a first aspect, embodiments of the present invention provide a medical device case comprising a base, a first rotational input member, and a rotational output member. The first rotational input member is rotatably mounted on the base. The rotational output member is rotatably mounted on the base, and rotation of the first rotational input member drives rotation of the rotational output member. The first rotational input member is provided with a first positioning mark, and the rotational output member is provided with a second positioning mark corresponding to the first positioning mark.

[0006] In the above technical solution, the first positioning mark is used to facilitate understanding the position of the first rotary input member closest to the rotary output member when the drive motor is at zero position, and the second positioning mark is used to facilitate understanding the position of the rotary output member closest to the first rotary input member when the drive motor is at zero position. When assembling the medical device box, the first positioning mark and the second positioning mark are aligned to facilitate limiting the first rotary input member and the rotary output member. The structure is simple and easy to implement.

[0007] In some embodiments, the first positioning mark is located on a side of the first rotation input member facing away from the base; and the second positioning mark is located on a side of the rotation output member facing away from the base.

[0008] In the above technical solution, the first positioning mark is located on the side of the first rotation input member facing away from the base, and the second positioning mark is located on the side of the rotation output member facing away from the base, so that the first positioning mark and the second positioning mark can be observed during installation.

[0009] In some embodiments, the first positioning mark is triangular, the second positioning mark is triangular, and / or the first positioning mark is a first positioning groove, and the second positioning mark is a second positioning groove.

[0010] In the above technical solution, both the first and second positioning marks are triangular in shape. During assembly, the apex of the triangle is directional, facilitating alignment of the first and second positioning marks. The first positioning mark is a first positioning groove, and the second positioning mark is a second positioning groove. These are easily painted, making them less likely to disappear or be obscured than adhesive-type first and second positioning marks, and are easier to observe.

[0011] In some embodiments, the first rotational input member is a first rotational input gear, the rotational output member is a rotational output gear, and the first rotational input gear is meshed with the rotational output gear.

[0012] In the above technical solution, the first rotation input gear is meshed with the rotation output gear, so that the first rotation input gear can drive the rotation output gear to rotate. The structure is simple and easy to implement.

[0013] In some embodiments, the medical device box further comprises a second rotation input gear rotatably disposed on the base and meshing with the rotation output gear. The number of teeth of the first rotation input gear, the number of teeth of the second rotation input gear and the number of teeth of the rotation output gear are equal.

[0014] In the above technical solution, the number of teeth on the first rotation input gear, the number of teeth on the second rotation input gear, and the number of teeth on the rotation output gear are equal, so that when the first rotation input gear or the second rotation input gear rotates one circle, the rotation output gear also rotates one circle. Furthermore, during transmission, the rotation angle of the first rotation input gear or the second rotation input gear is consistent with the rotation angle of the rotation output gear. Consequently, when the power box and the medical device box are reconnected, the angle of the rotation output gear can be detected by the angle of the first rotation input gear or the second rotation input gear, thereby detecting the rotation angle of the actuator end.

[0015] In some embodiments, the medical device box further includes a first rotation input shaft, the first rotation input shaft is rotatably disposed on the base, and the first rotation input gear is fixed to the first rotation input shaft.

[0016] In the above technical solution, the first rotary input gear is rotatably arranged on the base through the first rotary input shaft, so that the driving motor in the power box can drive the first rotary input gear to rotate through the first rotary input shaft. The structure is simple and easy to implement.

[0017] In some embodiments, the medical device box further comprises an outer sleeve, a waveguide rod, a push-pull member, and a pin. The outer sleeve is disposed through the base, and the rotary output gear is fixed to the outer sleeve. The waveguide rod is disposed within the outer sleeve, and the end of the waveguide rod located outside the side of the base facing away from the rotary output gear is configured as a second cutting head. Along the radial direction of the waveguide rod, the push-pull member is located between the waveguide rod and the outer sleeve. The end of the push-pull member located outside the side of the base facing away from the rotary output gear is used to connect to the first cutting head. The rotary output gear rotates to drive the outer sleeve, push-pull member, and waveguide rod to rotate. The waveguide rod is provided with a first through hole along the radial direction of the waveguide rod, the push-pull member has a second through hole corresponding to the first through hole, and the outer sleeve has a third through hole corresponding to the first through hole. The pin is disposed within the first, second, and third through holes. The second through hole is a waist-shaped hole extending axially along the push-pull member.

[0018] In the above technical solution, by passing the pins through the first through hole, the second through hole and the third through hole, when the outer sleeve rotates, the first cutting head and the second cutting head of the execution end can be driven to rotate, thereby facilitating the first rotary input gear and the second rotary input gear to drive the rotary output gear to rotate to drive the outer sleeve to rotate, and then drive the execution end to rotate.

[0019] In some embodiments, the medical device box further comprises a third opening and closing input shaft, a drive wheel, and a lever. The third opening and closing input shaft is rotatably disposed on the base, and the axial direction of the third opening and closing input shaft is parallel to the axial direction of the push-pull member. The drive wheel is fixed to the third opening and closing input shaft, and the outer peripheral surface of the drive wheel is provided with a spiral groove. The lever is rotatably disposed on the base, and the fulcrum of the lever is located between the drive wheel and the push-pull member. One end of the lever is provided with a first protrusion, and the first protrusion is slidably engaged with the spiral groove, and the other end of the lever is connected to the push-pull member. Rotation of the drive wheel can drive the lever to rotate around the fulcrum, thereby driving the push-pull member to move axially, thereby driving the first cutter head to open or close relative to the second cutter head.

[0020] In the above technical solution, the third opening and closing input shaft rotates to drive the driving wheel to rotate, and then the first protrusion and the spiral groove slide together to drive the lever to rotate around the fulcrum away from the push-pull member, thereby driving the push-pull member to move axially, and then driving the first blade head at the execution end to close or open. The structure is simple and easy to implement.

[0021] In a second aspect, embodiments of the present invention further provide an ultrasonic scalpel comprising the aforementioned medical device box, a transducer, and a power box, wherein the power box comprises a first drive motor configured to drive a first rotary input member to rotate, wherein when the first drive motor is in a zero position, the first positioning mark and the second positioning mark are aligned. The transducer is detachably connected to the medical device box.

[0022] In a third aspect, an embodiment of the present invention further provides a surgical robot, comprising a patient surgical platform having a plurality of robotic arms on which the ultrasonic scalpel is detachably mounted. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of the structure of the medical machine box provided by some embodiments of the present invention after the lever and the driving wheel are removed;

[0025] Figure 2 A schematic diagram of the structure of the medical machine box provided by some embodiments of the present invention in another direction after the lever and the driving wheel are removed;

[0026] Figure 3 An exploded view of the structure of the surgical robot provided by some embodiments of the present invention after the lever and drive wheel are removed;

[0027] Figure 4 Cross-sectional views of a waveguide rod, a push-pull member, and an outer sleeve provided in some embodiments of the present invention;

[0028] Figure 5 Figure 4 A partial enlarged view of point A in the middle;

[0029] Figure 6 An exploded view of the structure of the waveguide rod, push-pull member and outer sleeve provided in some embodiments of the present utility model;

[0030] Figure 7 A schematic diagram of the structure of the execution end when it is opened provided in some embodiments of the present utility model;

[0031] Figure 8 A schematic diagram of the structure of the closed execution end provided in some embodiments of the present invention;

[0032] Figure 9 An exploded view of the structure of a medical device box provided in some embodiments of the present invention;

[0033] Figure 10 An exploded view of the structure of a push-pull member, a lever, and a driving wheel provided in some embodiments of the present utility model;

[0034] Figure 11 A schematic structural diagram of a medical device box provided in some embodiments of the present invention;

[0035] Figure 12 This is an exploded diagram of the structure of the ultrasonic scalpel provided in some embodiments of the present invention.

[0036] icon:

[0037] 1000-Surgical Robot;

[0038] 100 - medical device box; 100A - housing; 110 - first rotation input shaft; 111 - first rotation input gear; 111A - first positioning mark; 1111 - first rotation input member;

[0039] 120 - second rotation input shaft; 121 - second rotation input gear;

[0040] 130 - third opening and closing input shaft; 131 - drive wheel; 131A - spiral groove;

[0041] 140 - execution end; 141 - first cutting head; 142 - second cutting head;

[0042] 150 - base; 151 - base body; 152 - support member;

[0043] 160 - push-pull member; 160A - first groove; 161d - second through hole;

[0044] 170 - lever; 170A - fulcrum; 175 - first protrusion; 176 - second protrusion;

[0045] 180-waveguide rod; 180A-first through hole;

[0046] 190 - outer sleeve; 190A - third through hole; 191 - rotary output gear; 191A - second positioning mark; 1911 - rotary output member; 192 - pin;

[0047] 200-Sterile Isolation Plate;

[0048] 300 - power box; 310 - first drive motor; 320 - second drive motor. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] Unless otherwise defined, all technical and scientific terms used in this utility model have the same meanings as those commonly understood by those skilled in the art to which this utility model belongs. The terms used in the specification of the application of this utility model are only for the purpose of describing specific embodiments and are not intended to limit this utility model. The terms "including" and "having" and any variations thereof in the specification and claims of this utility model and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first" and "second" in the specification and claims of this utility model or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary-secondary relationship.

[0051] Reference to an "embodiment" in this disclosure means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments.

[0052] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "attached" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0053] In this application, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " in this application generally indicates that the related objects are in an "or" relationship.

[0054] In the embodiments of the present invention, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components in different embodiments are omitted. It should be understood that the thickness, length, width, and other dimensions of the various components in the embodiments of the present invention, as well as the overall thickness, length, width, and other dimensions of the integrated device shown in the drawings are for illustrative purposes only and do not constitute any limitation on the present invention.

[0055] The term "plurality" used in this invention refers to more than two (including two).

[0056] Laparoscopic surgery systems typically consist of a surgeon's control platform, a patient operating platform, and an imaging platform. The surgeon, seated at the surgeon's control platform, views a 2D or 3D image of the surgical area transmitted by a laparoscope placed inside the patient's body. The surgeon then controls the movements of a robotic arm on the patient operating platform, along with the attached medical device cassette or laparoscope. The robotic arm simulates a human arm, while the medical device cassette simulates a human hand. Together, they provide the surgeon with a range of movements that mimic those of a human wrist while filtering out inherent hand tremors.

[0057] The patient surgical platform includes a chassis, a column, a robotic arm, and a power box. The robotic arm is connected to the column, and the power box is one or more power boxes arranged at the ends of the robotic arms. The medical device box and / or laparoscope are detachably attached to the power box.

[0058] A medical device kit is a medical device intended for insertion into a patient and performing a surgical or diagnostic procedure. The medical device kit includes an actuator. The actuator can be a surgical tool used to perform one or more surgical-related tasks. Examples include forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, and imaging devices (e.g., endoscopes or ultrasound probes).

[0059] During the operation, each power box can drive various types of medical device boxes to move with one or more mechanical degrees of freedom. Exemplarily, the power box can drive various types of medical device boxes to move with six, five or less degrees of freedom.

[0060] Typically, each power box is restricted by mechanical structure or controller constraints to drive the medical device box to rotate based on a motion center, which remains stationary relative to the patient platform. This motion center is called the "telecentric point".

[0061] The imaging platform usually includes a display, which is used to display images captured by a medical device box (commonly an endoscope) with a video image capture function. The above images can be captured by one medical device box or multiple medical device boxes.

[0062] In some embodiments where the medical device box is an endoscope, the medical device box includes a sensor that transmits images from the patient's body to the patient's body. The sensor then transmits the video image to the host computer of the imaging platform through steps such as photoelectric conversion. Subsequently, the processed image is displayed on a video monitor for observation by the assistant through image processing.

[0063] Illustratively, the sensor may be a CCD or CMOS sensor.

[0064] During surgery, the driving motor of the power box generally drives the rotary input gear to rotate, thereby driving the rotary output gear engaged with the rotary input gear to rotate, and then driving the execution end of the medical device box to rotate. Since the surgical robot generally detects the rotation angle of the rotary input gear through the rotation angle of the driving motor, and then detects the rotation angle of the rotary output gear and the execution end, when installing the medical device box, it is necessary to correspond the rotary input gear to the rotary output gear, and set it so that when the driving motor is at zero position (the driving motor has rotated an integer number of circles relative to the initial position), the direction of the execution end is certain.

[0065] In an embodiment of a structure in which the execution end is formed by a first blade head and a second blade head (the second blade head mechanically oscillates at an ultrasonic frequency. The high-power ultrasonic wave causes the tissue cells in contact with the second blade head to instantly vaporize water, break protein hydrogen bonds, and disintegrate cells, thereby cutting the tissue. The friction heat caused by the mechanical vibration can coagulate and stop bleeding while cutting the tissue. The first blade head can rotate relative to the second blade head to close and open the execution end) to form a forceps head or clamp, when the drive motor is at zero position, the second blade head is located between the first blade head mechanical arm, so that the first blade head can be located between the patient and the second blade head, reducing the risk of the second blade head accidentally injuring the patient. In the prior art, it is generally installed through tooling to ensure alignment, and the installation process is relatively cumbersome.

[0066] Based on the above considerations, in order to facilitate the positioning of the rotational input member and the rotational output member during assembly, an embodiment of the present utility model provides a medical device box, comprising a base, a first rotational input member, and a rotational output member. The first rotational input member is rotatably mounted on the base. The rotational output member is rotatably mounted on the base, and rotation of the first rotational input member drives the rotation of the rotational output member. The first rotational input member is provided with a first positioning mark, and the rotational output member is provided with a second positioning mark corresponding to the first positioning mark.

[0067] In a medical device box of this structure, the first positioning mark is used to facilitate understanding the position of the teeth of the first rotary input member that should engage with the rotary output member when the drive motor is at zero position, and the second positioning mark is used to facilitate understanding the position of the teeth of the rotary output member that should engage with the first rotary input member when the drive motor is at zero position. When assembling the medical device box, the first positioning mark and the second positioning mark are aligned to facilitate limiting the first rotary input member and the rotary output member.

[0068] According to some embodiments of the present invention, referring to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the medical machine box provided by some embodiments of the present invention after the lever 170 and the driving wheel are removed. Figure 2 This is a schematic diagram of the structure of a medical device box provided in some embodiments of the present invention, after the lever 170 and drive wheel are removed, viewed in another direction. The present embodiments provide a medical device box 100, comprising a base 150, a first rotational input member 1111, and a rotational output member 1911. The first rotational input member 1111 is rotatably mounted on the base 150. The rotational output member 1911 is rotatably mounted on the base 150, and rotation of the first rotational input member 1111 drives rotation of the rotational output member 1911. A first positioning mark 111A is provided on the first rotational input member 1111, and a second positioning mark 191A corresponding to the first positioning mark 111A is provided on the rotational output member 1911.

[0069] The base 150 is a component of the medical device box 100 for mounting the input shaft and the transmission structure as well as the transmission mechanism connected to the execution end 140. For example, the base 150 can be made of a metal or non-metal hard material such as hard plastic, stainless steel, aluminum alloy, etc.

[0070] It can be understood that the base 150 is the portion of the medical device box 100 that is connected to the power box (not shown in the figure).

[0071] In some embodiments, the power box (not shown in the figure) includes a first driving motor (not shown in the figure) for driving the first rotation input member 1111 to rotate.

[0072] The first rotation input member 1111 is a transmission mechanism rotatably disposed on the base 150; the rotation output member 1911 is a transmission mechanism rotatably disposed on the base 150. For example, the first rotation input member 1111 and the rotation output member 1911 may be sprockets, which are driven by a chain. The first rotation input member 1111 and the rotation output member 1911 may be pulleys, which are driven by a belt.

[0073] The first positioning mark 111A is a mark on the first rotary input member 1111. The mark is used to indicate the position of the first rotary input member 1111 closest to the rotary output member 1911 when the first drive motor (not shown) is at zero position, so that the actuator 140 is in a set orientation. For example, the first positioning mark 111A can have various shapes, such as an arrow, a circle, an extended line, etc.

[0074] The second positioning mark 191A is a mark on the rotary output member 1911. This mark is used to indicate the position where the rotary output member 1911 is closest to the first rotary input member 1111 when the first drive motor (not shown) is at zero position, so that the actuator 140 is in a set orientation. For example, the second positioning mark 191A can be in various shapes, such as an arrow, a circle, an extended line, etc.

[0075] In some embodiments, the first positioning mark 111A can be set on the first rotating input member 1111 by bonding, hot melting or other connection methods; in some embodiments, the first positioning mark 111A and the first rotating input member 1111 can be integrally formed.

[0076] In some embodiments, the second positioning mark 191A can be set on the rotating output member 1911 by bonding, hot melting or other connection methods; in some embodiments, the second positioning mark 191A and the rotating output member 1911 can be integrally formed.

[0077] Exemplarily, in an embodiment in which the execution end 140 is a structure in which a forceps head or a clamp is formed by a first cutting head 141 and a second cutting head 142, in a set orientation, the first cutting head 141 is located between the second cutting head 142 and the patient's surgical platform, so that the first cutting head 141 can be located between the patient and the second cutting head 142, reducing the risk of the second cutting head 142 accidentally injuring the patient.

[0078] Specifically, when assembling the medical device box 100, after assembling one of the rotation output member 1911 and the first rotation input member 1111, before mounting the other on the base 150, the positioning marks of the two are aligned to determine the relative positions of the two, and the other is assembled on the base 150, so that the first positioning mark 111A and the second positioning mark 191A can correspond to each other. When the first positioning mark 111A and the second positioning mark 191A are aligned, the motor is located at zero position.

[0079] The alignment of the first positioning mark 111A and the second positioning mark 191A can be understood as, at this time, the distance between the first positioning mark 111A and the second positioning mark 191A is the shortest, and the straight line passing through the geometric centers of the first positioning mark 111A and the second positioning mark 191A also passes through the geometric centers of the rotating output member 1911 and the geometric centers of the first rotating input member 1111.

[0080] In this embodiment, the first positioning mark 111A is used to facilitate understanding the position of the first rotary input member 1111 closest to the rotary output member 1911 when the drive motor is at zero position, and the second positioning mark 191A is used to facilitate understanding the position of the rotary output member 1911 closest to the first rotary input member 1111 when the drive motor is at zero position. When assembling the medical device box 100, the first positioning mark 111A and the second positioning mark 191A are aligned to facilitate limiting the first rotary input member 1111 and the rotary output member 1911. The structure is simple and easy to implement.

[0081] According to some embodiments of the present invention, referring to Figure 1 and Figure 2 The first positioning mark 111A is located on the side of the first rotation input member 1111 away from the base 150 ; the second positioning mark 191A is located on the side of the rotation output member 1911 away from the base 150 .

[0082] In this embodiment, the first positioning mark 111A is located on the side of the first rotation input member 1111 away from the base 150, and the second positioning mark 191A is located on the side of the rotation output member 1911 away from the base 150. This facilitates observation of the first positioning mark 111A and the second positioning mark 191A during installation.

[0083] According to some embodiments of the present invention, referring to Figure 1 and Figure 2 The first positioning mark 111A is triangular, the second positioning mark 191A is triangular, and / or the first positioning mark 111A is a first positioning groove, and the second positioning mark 191A is a second positioning groove.

[0084] In some embodiments, the first positioning mark 111A is an isosceles triangle, with the vertex angle of the isosceles triangle serving as a positioning indicator, and the second positioning mark 191A is an isosceles triangle, with the vertex angle of the isosceles triangle serving as a positioning indicator. That is, when the first positioning mark 111A and the second positioning mark 191A are aligned, the extension of the line connecting the vertex of the first positioning mark 111A and the vertex of the second positioning mark 191A coincides with the midline of the first positioning mark 111A and also coincides with the midline of the second positioning mark 191A.

[0085] It can be understood that the triangular mark can clearly indicate a certain direction, making it easy to quickly understand and identify the direction of the positioning mark.

[0086] The first positioning mark 111A and the second positioning mark 191A are both triangular in shape. During assembly, the apex angle of the triangle is directional, so as to facilitate alignment of the first positioning mark 111A and the second positioning mark 191A.

[0087] It can be understood that the first positioning groove can be formed on the end face of the first rotating input member 1111 by machining methods such as milling, or it can be synchronously manufactured with the first rotating input member 1111 by integral molding; the second positioning groove can be formed on the end face of the rotating output member 1911 by machining methods such as milling, or it can be synchronously manufactured with the rotating output member 1911 by integral molding.

[0088] In this embodiment, the first positioning mark 111A is a first positioning groove, and the second positioning mark 191A is a second positioning groove, which is convenient for coating with paint. Therefore, compared with the first positioning mark 111A and the second positioning mark 191A which are pasted, they are not easy to disappear or be blocked, and are easy to observe.

[0089] According to some embodiments of the present invention, referring to Figure 1 and Figure 2 The first rotation input member is a first rotation input gear, the rotation output member is a rotation output gear, and the first rotation input gear is meshed with the rotation output gear.

[0090] The first rotation input gear 111 is a gear rotatably disposed on the base 150 ; the rotation output gear 191 is a gear rotatably disposed on the base 150 .

[0091] First positioning mark 111A is a mark on first rotary input gear 111. This mark indicates the position of the teeth of first rotary input gear 111 that should mesh with rotary output gear 191 when the first drive motor (not shown) is at zero position, in order to orient the actuator 140 in a predetermined direction. For example, first positioning mark 111A can have various shapes, such as an arrow, a circle, an extended line, etc.

[0092] Second positioning mark 191A is a mark on rotary output gear 191. This mark indicates the position of the teeth of rotary output gear 191 that should mesh with first rotary input gear 111 when the first drive motor (not shown) is at zero position to orient the actuator 140 in a predetermined direction. For example, second positioning mark 191A can have various shapes, such as an arrow, a circle, etc.

[0093] Optionally, the number of teeth of one of the first rotation input gear 111 and the rotation output gear 191 should be an integer multiple of the number of teeth of the other, so that after one rotates one circle, the other can rotate an integer multiple of the other.

[0094] Specifically, when assembling the medical device box 100, after assembling one of the rotation output gear 191 and the first rotation input gear 111, before mounting the other on the base 150, the positioning marks of the two are aligned to determine the relative positions of the two meshing, and the other is assembled on the base 150, so that the first positioning mark 111A and the second positioning mark 191A can correspond to each other. When the first positioning mark 111A and the second positioning mark 191A are aligned, the motor can be located at zero position.

[0095] In this embodiment, the first rotation input gear is meshed with the rotation output gear, so that the first rotation input gear can drive the rotation output gear to rotate. The structure is simple and easy to implement.

[0096] According to some embodiments of the present invention, referring to Figure 1 and Figure 2 The medical device box 100 also includes a second rotation input gear 121, which is rotatably disposed on the base 150 and meshes with the rotation output gear 191. The number of teeth of the first rotation input gear 111, the number of teeth of the second rotation input gear 121 and the number of teeth of the rotation output gear 191 are equal.

[0097] The second rotation input gear 121 is a gear rotatably disposed on the base 150 .

[0098] In some embodiments, the first rotation input gear 111 and the second rotation input gear 121 are spaced apart around the circumference of the rotation output gear 191, and the first rotation input shaft 110 and the second rotation input shaft 120 respectively drive the first rotation input gear 111 and the second rotation input gear 121 to rotate in different rotation directions. In other words, when the first rotation input gear 111 rotates and the second rotation input gear 121 rotates, they respectively drive the rotation output gear 191 to rotate in different directions.

[0099] It can be understood that when driving the rotation output gear 191 to rotate, one of the first rotation input gear 111 and the second rotation input gear serves as a driving gear that drives the rotation output gear 191 to rotate, and the other serves as a driven gear that is driven to rotate by the rotation output gear 191 .

[0100] Exemplarily, the first rotary input gear 111 is used to rotate clockwise to drive the rotary output gear 191 to rotate counterclockwise, thereby driving the second rotary input gear 121 to rotate clockwise; the second rotary input gear 121 is used to rotate counterclockwise to drive the rotary output gear 191 to rotate clockwise, thereby driving the first rotary input gear 111 to rotate counterclockwise, thereby eliminating the clearance error of the gear transmission and improving the rotation accuracy of the execution end 140.

[0101] It can be understood that when the number of teeth of the first rotary input gear 111 is consistent with the number of teeth of the rotary output gear 191, on the one hand, the transmission ratio of the two will remain constant, so that the rotation angle of the first rotary input gear 111 is consistent with the rotation angle of the rotary output gear 191, thereby facilitating the controller of the surgical robot to detect the rotation angle of the rotary output gear 191 through the angle of rotation of the first rotary input gear 111 driven by the first drive motor 310, and then confirm the angle of the execution end 140; on the other hand, after the first drive motor 310 is disengaged from the first rotary input gear 111 and re-engaged with power, the controller can detect the rotation angle of the rotary output gear 191 through the angle when the first rotary input gear 111 is powered engaged with the first drive motor 310, and then detect the angle of the execution end 140.

[0102] In this embodiment, the number of teeth of the first rotation input gear 111, the number of teeth of the second rotation input gear 121, and the number of teeth of the rotation output gear 191 are equal, so that when the first rotation input gear 111 or the second rotation input gear 121 rotates one circle, the rotation output gear 191 also rotates one circle, and thus, during transmission, the rotation angle of the first rotation input gear 111 or the second rotation input gear 121 is consistent with the rotation angle of the rotation output gear 191. Therefore, when the power box 300 is reconnected to the medical device box 100, the angle of the rotation output gear 191 can be detected by the angle of the first rotation input gear 111 or the second rotation input gear 121, so as to detect the rotation angle of the actuator 140.

[0103] According to some embodiments of the present invention, referring to Figure 1 and Figure 3 , Figure 3This is an exploded view of the surgical robot 1000 provided in some embodiments of the present invention, after the lever 170 and drive wheel are removed. The medical device box 100 also includes a first rotation input shaft 110 rotatably mounted on the base 150 , and a first rotation input gear 111 is fixed to the first rotation input shaft 110 .

[0104] The first rotation input shaft 110 is a component in the medical device box 100 for receiving the rotational motion provided by the first drive motor 310 in the power box 300; the second rotation input shaft 120 is a component in the medical device box 100 for receiving the rotational motion provided by the second drive motor 320 in the power box 300.

[0105] When the medical device box 100 has the second rotation input gear 121 , the medical device box 100 further includes a second rotation input shaft 120 . The second rotation input shaft 120 is rotatably disposed on the base 150 , and the second rotation input gear 121 is fixed to the second rotation input shaft 120 .

[0106] In some embodiments, the base 150 is provided with through holes for the first rotation input shaft 110 and the second rotation input shaft 120 to pass through respectively. The first rotation input shaft 110 and the second rotation input shaft 120 are rotatably connected to the corresponding through holes via bearings.

[0107] It is understandable that the rotation axis of the first rotation input shaft 110 and the rotation axis of the second rotation input shaft 120 should be parallel to each other and parallel to the thickness direction of the base 150 to facilitate the installation of the drive motor on the power box 300.

[0108] The first rotation input gear 111 is a gear fixed to the outside of the first rotation input shaft 110 ; the second rotation input gear 121 is a gear fixed to the outside of the second rotation input shaft 120 .

[0109] In some embodiments, the first rotary input gear 111 can be a gear formed on the outer peripheral wall of the first rotary input shaft 110 by milling machining, or it can be a gear integrally formed outside the first rotary input shaft 110; the second rotary input gear 121 can be a gear formed on the outer peripheral wall of the second rotary input shaft 120 by milling machining, or it can be a gear integrally formed outside the second rotary input shaft 120.

[0110] In other embodiments, the first rotation input gear 111 can be fixed to the first rotation input shaft 110 by means of connecting components such as screws, bolts or screws, so that when the first rotation input shaft 110 rotates, the first rotation input gear 111 is driven to rotate; the second rotation input gear 121 can be fixed to the second rotation input shaft 120 by means of connecting components such as screws, bolts or screws, so that when the second rotation input shaft 120 rotates, the second rotation input gear 121 is driven to rotate.

[0111] In this embodiment, the first rotary input gear 111 is rotatably disposed on the base 150 through the first rotary input shaft 110, and the second rotary input gear 121 is rotatably disposed on the base 150 through the second rotary input shaft 120, so that different drive motors in the power box 300 can respectively drive the first rotary input gear 111 and the second rotary input gear 121 to rotate independently through the first rotary input shaft 110 and the second rotary input shaft 120, and the structure is simple and easy to implement.

[0112] According to some embodiments of the present invention, referring to Figure 3 - Figure 6 , and please refer to Figure 7 and Figure 8 , Figure 4 A cross-sectional view of a waveguide rod 180, a push-pull member 160, and an outer sleeve 190 provided in some embodiments of the present invention. Figure 5 Figure 4 A partial enlarged view of point A in the middle. Figure 6 This is an exploded view of the structure of the waveguide rod 180, the push-pull member 160 and the outer sleeve 190 provided in some embodiments of the present invention. Figure 7 This is a schematic diagram of the structure of the execution end 140 when it is opened in some embodiments of the present invention. Figure 8Schematic diagram of the structure of the execution end 140 when closed provided in some embodiments of the present invention. The medical device box 100 also includes an outer sleeve 190, a waveguide rod 180, a push-pull member 160 and a pin 192. The outer sleeve 190 is inserted into the base 150, and the rotation output gear 191 is fixed to the outer sleeve 190. The waveguide rod 180 is inserted into the outer sleeve 190, and the end of the waveguide rod 180 located outside the side of the base 150 away from the rotation output gear 191 is configured as the second cutting head 142. Along the radial direction of the waveguide rod 180, the push-pull member 160 is located between the waveguide rod 180 and the outer sleeve 190. The end of the push-pull member 160 located outside the side of the base 150 away from the rotation output gear 191 is used to connect to the first cutting head 141. The rotation of the rotation output gear 191 drives the outer sleeve 190, the push-pull member 160 and the waveguide rod 180 to rotate. The waveguide rod 180 has a first through-hole 180A radially disposed therein. The push-pull member 160 has a second through-hole 161d corresponding to the first through-hole 180A. The outer sleeve 190 has a third through-hole 190A corresponding to the first through-hole 180A. The pin 192 extends through the first through-hole 180A, the second through-hole 161d, and the third through-hole 190A. The second through-hole 161d is a waist-shaped hole extending axially along the push-pull member 160.

[0113] The push-pull member 160 is a component in the medical device box 100 for driving the execution end 140 to open and close. Figure 7 and Figure 8 The push-pull member 160 can move relative to the base 150 along the axial direction of the push-pull member 160 to drive the first cutting head 141 to open or close relative to the second cutting head 142.

[0114] The outer sleeve 190 is a tubular component in the medical device box 100 that is driven by the first rotation input shaft 110 and the second rotation input shaft 120 to drive the push-pull member 160 and the waveguide rod 180 to move. For example, the axial direction of the outer sleeve 190 can be the same as the axial direction of the inner sleeve 161B, that is, the extension direction of the push-pull member 160 is the same as the extension direction of the outer sleeve 190.

[0115] In some embodiments, a through hole corresponding to the outer sleeve 190 may be opened on the base 150, and the through hole corresponding to the outer sleeve 190 and the outer sleeve 190 are rotatably connected via a bearing.

[0116] By arranging an outer sleeve 190 on the outer periphery of the push-pull member 160, when the push-pull member 160 controls the first cutting head 141 of the execution end 140, the outer sleeve 190 can isolate the push-pull member 160 from the patient's body tissue, thereby protecting the patient when the push-pull member 160 moves along the circumference of the push-pull member 160.

[0117] In some embodiments, reference Figure 7 and Figure 8 , part of the first cutting head 141 is rotatably arranged on the end of the outer sleeve 190 close to the second cutting head 142, and the other part of the first cutting head 141 is rotatably arranged on the end of the push-pull member 160 close to the second cutting head 142, and the rotating connection between the first cutting head 141 and the outer sleeve 190 and the rotating connection between the first cutting head 141 and the push-pull member 160 are located on both sides of the waveguide rod 180 along the radial direction of the waveguide rod 180, so that when the push-pull member 160 moves axially under the drive of the lever 170, the push-pull member 160 can move axially relative to the outer sleeve 190, and the push-pull member 160 drives the first cutting head 141 to rotate relative to the second cutting head 142.

[0118] The waveguide rod 180 is a component for transmitting high-frequency mechanical energy in the medical device box 100. For example, the axial direction of the waveguide rod 180 may be the same as the axial direction of the inner sleeve 161B, that is, the extension direction of the push-pull member 160 is the same as the extension direction of the waveguide rod 180.

[0119] In some embodiments, the waveguide rod 180 may be connected to a transducer. Figure 4 - Figure 6 The end of the waveguide rod 180 located outside the push-pull member 160 is configured as the second cutting head 142.

[0120] As can be understood, mechanical energy is transmitted to the second cutting head 142 via the waveguide rod 180, causing the second cutting head 142 to mechanically oscillate at ultrasonic frequencies. The high-power ultrasonic waves instantly vaporize moisture in tissue cells in contact with the second cutting head 142, breaking protein hydrogen bonds and causing cell disintegration, thereby incising the tissue. The frictional heat generated by the mechanical vibration simultaneously coagulates and stops bleeding.

[0121] The first blade 141 is a component of the execution end 140. Figure 7 and Figure 8 The execution end 140 may include a second cutting head 142 for cutting tissue and a first cutting head 141 that can rotate relative to the second cutting head 142. The push-pull member 160 moves to rotate the first cutting head 141 relative to the second cutting head 142, so that the execution end 140 opens and closes to clamp and cut the tissue.

[0122] Specifically, the first cutting head 141 and the second cutting head 142 form a clamp or a clamp structure. When the push-pull member 160 is driven by the lever 170 to move axially, the push-pull member 160 can move axially relative to the waveguide rod 180, driving the first cutting head 141 to rotate relative to the second cutting head 142, thereby switching the actuator end 140 between closed and open positions.

[0123] The rotation output gear 191 is fixed to the outer sleeve 190 , and the first rotation input gear 111 and the second rotation input gear 121 are respectively engaged with the rotation output gear 191 .

[0124] In some embodiments, the rotary output gear 191 can be a gear formed on the outer peripheral wall of the outer sleeve 190 by milling machining, or can be a gear integrally formed outside the outer sleeve 190 .

[0125] In other embodiments, the rotary output gear 191 can be fixed to the outer sleeve 190 by connecting components such as screws, bolts or screws, so that when the rotary output gear 191 rotates, it drives the outer sleeve 190, the push-pull member 160 and the waveguide rod 180 to rotate.

[0126] It can be understood that the first cutting head 141 and the second cutting head 142 of the execution end 140 are driven to rotate by rotating the output gear 191 through the outer sleeve 190 . This has a simple structure and is easy to implement.

[0127] The waveguide rod 180 is provided with a first through-hole 180A along its radial direction. The push-pull member 160 has a second through-hole 161d corresponding to the first through-hole 180A. The outer sleeve 190 has a third through-hole 190A corresponding to the first through-hole 180A. The pin 192 extends through the first through-hole 180A, the second through-hole 161d, and the third through-hole 190A. In other words, the pin 192 sequentially passes through the third through-hole 190A in the outer sleeve 190, the second through-hole 161d in the push-pull member 160, and the first through-hole 180A in the waveguide rod 180, thereby preliminarily securing the waveguide rod 180 and the push-pull member 160 relative to the outer sleeve 190. This prevents the waveguide rod 180 from falling during installation and use.

[0128] In some embodiments, the pin 192 and the first through-hole 180A of the waveguide rod 180 may have a clearance fit. It should be understood that the clearance fit between the pin 192 and the first through-hole 180A means that the pin 192 and the first through-hole 180A have a non-interference fit or a tight fit. Thus, a certain clearance exists between the pin 192 and the first through-hole 180A.

[0129] Specifically, when the transducer transmits high-frequency vibrations through the waveguide rod 180 , there is no interference between the vibration of the waveguide rod 180 and the pin 192 , thereby improving the safety of minimally invasive surgery.

[0130] The second through hole 161d is a waist-shaped hole extending along the axial direction of the push-pull member 160. On the one hand, it can limit the position of the waveguide rod 180; on the other hand, when the execution end 140 is controlled by the push-pull member 160, the design of the waist-shaped hole can facilitate the movement of the push-pull member 160; on the third hand, when the push-pull member 160 moves axially, the outer sleeve 190 can play a role of circumferential limitation and guidance on the movement of the push-pull member 160 through the pin 192, which can improve the accuracy of controlling the execution end 140 and reduce surgical trauma.

[0131] In some embodiments, the axial length of the second through hole 161d along the push-pull member 160 can be designed according to the rotation angle of the first cutting head 141 relative to the second cutting head 142. For example, the length of the second through hole 161d can be greater than or equal to the axial displacement distance of the push-pull member 160 when the execution end 140 switches from a closed state to a maximum open angle state.

[0132] In this embodiment, by passing the pin 192 through the first through hole 180A, the second through hole 161d and the third through hole 190A, when the outer sleeve 190 rotates, it can drive the first cutting head 141 and the second cutting head 142 of the execution end 140 to rotate, thereby facilitating the first rotation input gear 111 and the second rotation input gear 121 to drive the rotation output gear 191 to rotate to drive the outer sleeve 190 to rotate, and then drive the execution end 140 to rotate.

[0133] According to some embodiments of the present invention, referring to Figure 9 and Figure 10 , Figure 9 This is an exploded view of the structure of the medical device box 100 provided in some embodiments of the present invention. Figure 10 Exploded view of the structure of the push-pull member 160, lever 170 and drive wheel 131 provided for some embodiments of the present invention. The medical device box 100 also includes a third opening and closing input shaft 130, a drive wheel 131 and a lever 170. The third opening and closing input shaft 130 is rotatably arranged on the base 150, and the axial direction of the third opening and closing input shaft 130 is parallel to the axial direction of the push-pull member 160. The drive wheel 131 is fixed to the third opening and closing input shaft 130, and the outer peripheral surface of the drive wheel 131 is provided with a spiral groove 131A. The lever 170 is rotatably arranged on the base 150, and the fulcrum 170A of the lever 170 is located between the drive wheel 131 and the push-pull member 160. One end of the lever 170 is provided with a first protrusion 175, and the first protrusion 175 is slidably matched with the spiral groove 131A. The other end of the lever 170 is connected to the push-pull member 160. The rotation of the driving wheel 131 can drive the lever 170 to rotate around the fulcrum 170A, thereby driving the push-pull member 160 to move axially, thereby driving the first cutting head 141 to open or close relative to the second cutting head 142 .

[0134] The third opening and closing input shaft 130 is a component in the medical device box 100 for receiving the rotational motion provided by the third driving motor in the power box 300 to drive the driving wheel 131 to rotate.

[0135] The driving wheel 131 is a transmission structure for the third opening and closing input shaft 130 to drive the lever 170 to rotate.

[0136] The spiral groove 131A is a groove arranged on the outer peripheral surface of the driving wheel 131. The extension direction of the spiral groove 131A is spiral. The spiral groove 131A can be formed on the peripheral side of the driving wheel 131 by machining methods such as milling, or can be made synchronously with the driving wheel 131 by an integral molding method.

[0137] The first protrusion 175 is a portion protruding from the side surface of the lever 170 facing the spiral groove 131A. The first protrusion 175 may have various shapes. For example, the first protrusion 175 may be cylindrical or prismatic.

[0138] Specifically, when the third opening and closing input shaft 130 drives the driving wheel 131 to rotate, it drives the spiral groove 131A to slide relative to the first protrusion 175, and then drives the first protrusion 175 to drive the end of the lever 170 close to the driving wheel 131 to rotate around the fulcrum 170A, and then drives the end of the lever 170 close to the push-pull member 160 to drive the push-pull member 160 to move axially along the push-pull member 160.

[0139] In some embodiments, a first groove 160A is provided at one end of the push-pull member 160, and the first groove 160A extends along the circumference of the push-pull member 160. The axial direction of the push-pull member 160 is parallel to the axial direction of the third opening and closing input shaft 130. A lever 170 is rotatably disposed on the base 150, with a fulcrum 170A of the lever 170 located between the third opening and closing input shaft 130 and the push-pull member 160. One end of the lever 170 is transmission-connected to the third opening and closing input shaft 130, and the other end of the lever 170 has a second protrusion 176, which is located in the first groove 160A. Rotation of the third opening and closing input shaft 130 can drive the lever 170 to rotate about the fulcrum 170A, thereby driving the push-pull member 160 to move axially.

[0140] In some embodiments, reference Figure 9The base 150 includes a base body 151 and a support member 152. The support member 152 is mounted on the base body 151. A gap is defined between the support member 152 and the base body 151 along the thickness of the base 150. The first rotation input gear 111, the second rotation input gear 121, and the rotation output gear 191 are positioned within this gap. The fulcrum 170A of the lever 170 is positioned on the side of the support member 152 facing away from the base body 151 along the thickness of the base 150. This reduces the risk of the lever 170 interfering with the movement of the first rotation input gear 111, the second rotation input gear 121, and the rotation output gear 191 when rotating relative to the fulcrum 170A.

[0141] In some embodiments, reference Figure 11 , Figure 11 The medical device box 100 provided in some embodiments of the present invention is a schematic structural diagram. The medical device box 100 further includes a housing 100A having an opening, a base 150 covering the opening, and a first rotation input gear 111, a second rotation input gear 121, and a rotation output gear 191 located within the housing 100A.

[0142] The base 150 covers the opening to form a sealed space, thereby providing a stable working environment for the first rotation input gear 111 , the second rotation input gear 121 and the rotation output gear 191 , thereby improving the reliability of the medical device box 100 .

[0143] In this embodiment, the third opening and closing input shaft 130 rotates to drive the driving wheel 131 to rotate, and then the first protrusion 175 slides with the spiral groove 131A, driving the lever 170 to rotate around the fulcrum 170A away from the push-pull member 160, and then driving the push-pull member 160 to move axially, and then driving the first blade 141 of the execution end 140 to close or open. The structure is simple and easy to implement.

[0144] Reference Figure 12 , Figure 12 Exploded diagram of the structure of an ultrasonic scalpel provided in some embodiments of the present invention. The present invention also provides an ultrasonic scalpel comprising the aforementioned medical device case 100, a power case 300, and a transducer. The power case 300 includes a first drive motor 310, which is configured to drive the first rotational input member 1111 to rotate. When the first drive motor 310 is at zero position, the first positioning mark 111A and the second positioning mark 191A are aligned. The transducer is detachably connected to the medical device case 100.

[0145] The power box 300 is a driving mechanism for driving the execution end 140 of the medical device box 100 to move in one or more mechanical degrees of freedom. For example, the power box 300 can drive the execution end 140 to move in six, five or fewer degrees of freedom.

[0146] In the embodiment where the medical device box 100 has a second rotation driving gear, the power box 300 further includes a second driving motor 320. The second driving motor 320 is used to drive the second rotation input gear 121 to rotate.

[0147] The first drive motor 310 being at the zero position may be understood as the angle at which the first drive motor 310 is located, as detected by the controller, when the first drive motor 310 rotates an integer number of revolutions.

[0148] The first drive motor 310 is a driving component in the power box 300 for providing independent rotation to drive the first rotation input shaft 110 to rotate independently; the second drive motor 320 is a driving component in the power box 300 for providing independent rotation to drive the second rotation input shaft 120 to rotate independently.

[0149] In the embodiment where the medical device box 100 has the third opening and closing input shaft 130 , the power box 300 further includes a third drive motor (not shown) as a driving member in the power box 300 for providing independent rotation to drive the third opening and closing input shaft 130 to rotate independently.

[0150] In some embodiments, the ultrasonic scalpel further includes a sterile isolation plate 200 , which is disposed between the power box 300 and the medical device box 100 .

[0151] Understandably, since the power box 300 includes a drive motor, sterilization treatments such as spraying with alcohol or high-temperature disinfection may damage the drive motor. Therefore, the power box 300 is not suitable for sterilization. Therefore, in order to place the actuator 140 in a sterile operating area during surgery, a sterile isolation plate 200 is required between the power box 300 and the medical device box. The drive motor transmits power to the input shaft via a transmission disc on the isolation plate.

[0152] The piezoelectric crystals within the transducer oscillate at the same frequency as the high-frequency alternating current, converting it into high-frequency mechanical energy. This mechanical energy is transmitted to the second cutting head 142 via the waveguide rod 180, causing it to oscillate at ultrasonic frequencies. The high-powered ultrasonic waves instantly vaporize moisture in tissue cells in contact with the second cutting head 142, breaking protein hydrogen bonds and causing cell disintegration, thereby incising the tissue. The frictional heat generated by the mechanical vibration simultaneously coagulates and stops bleeding.

[0153] The embodiment of the present invention further provides a surgical robot 1000, comprising a patient surgical platform having a plurality of robotic arms, on which the ultrasonic scalpel is detachably mounted.

[0154] According to some embodiments of the present invention, there is provided a Figure 1 - Figure 11 The medical device box 100 includes a base 150, a first rotation input gear 111, a second rotation input gear 121, and a rotation output gear 191. The first rotation input gear 111 and the second rotation input gear 121 are rotatably mounted on the base 150. The rotation output gear 191 is rotatably mounted on the base 150, and the first rotation input gear 111 and the second rotation input gear 121 are respectively engaged with the rotation output gear 191. A first positioning mark 111A is provided on the first rotation input gear 111, and a second positioning mark 191A corresponding to the first positioning mark 111A is provided on the rotation output gear 191.

[0155] The number of teeth of the first rotation input gear 111 , the number of teeth of the second rotation input gear 121 , and the number of teeth of the rotation output gear 191 are equal.

[0156] The first positioning mark 111A is located on the side of the first rotation input gear 111 away from the base 150; the second positioning mark 191A is located on the side of the rotation output gear 191 away from the base 150; the first positioning mark 111A is triangular, and the second positioning mark 191A is triangular; the first positioning mark 111A is a first positioning groove, and the second positioning mark 191A is a second positioning groove.

[0157] The medical device box 100 further includes a first rotation input shaft 110 and a second rotation input shaft 120 , which are rotatably disposed on the base 150 , respectively. The first rotation input gear 111 is fixed to the first rotation input shaft 110 , and the second rotation input gear 121 is fixed to the second rotation input shaft 120 .

[0158] The medical device box 100 also includes an outer sleeve 190, a waveguide rod 180, and a push-pull member 160. The outer sleeve 190 is inserted into the base 150, and a rotation output gear 191 is fixed to the outer sleeve 190. The waveguide rod 180 is inserted into the outer sleeve 190, and one end of the waveguide rod 180 located outside the base 150 away from the rotation output gear 191 is configured as a second cutting head 142. Along the radial direction of the waveguide rod 180, the push-pull member 160 is located between the waveguide rod 180 and the outer sleeve 190. The end of the push-pull member 160 located outside the base 150 away from the rotation output gear 191 is used to connect to the first cutting head 141. The rotation of the rotation output gear 191 drives the outer sleeve 190, the push-pull member 160, and the waveguide rod 180 to rotate.

[0159] The medical device box 100 also includes a third opening and closing input shaft 130, a drive wheel 131, and a lever 170. The third opening and closing input shaft 130 is rotatably arranged on the base 150, and the axial direction of the third opening and closing input shaft 130 is parallel to the axial direction of the push-pull member 160. The drive wheel 131 is fixed to the third opening and closing input shaft 130, and the outer peripheral surface of the drive wheel 131 is provided with a spiral groove 131A. The lever 170 is rotatably arranged on the base 150, and the fulcrum 170A of the lever 170 is located between the drive wheel 131 and the push-pull member 160. One end of the lever 170 is provided with a first protrusion 175, and the first protrusion 175 is slidably matched with the spiral groove 131A, and the other end of the lever 170 is connected to the push-pull member 160. The rotation of the drive wheel 131 can drive the lever 170 to rotate around the fulcrum 170A to drive the push-pull member 160 to move axially to drive the first cutter head 141 to open or close relative to the second cutter head 142.

[0160] The medical device box 100 further includes a housing 100A having an opening. The base 150 covers the opening. The first rotation input gear 111 , the second rotation input gear 121 and the rotation output gear 191 are located in the housing 100A.

[0161] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0162] The above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Those skilled in the art will appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A medical device box, characterized in that: include: base; a first rotation input member rotatably disposed on the base; a rotation output member rotatably disposed on the base, wherein the first rotation input member rotates to drive the rotation output member to rotate; Wherein, a first positioning mark is provided on the first rotation input member, and a second positioning mark corresponding to the first positioning mark is provided on the rotation output member.

2. The medical device box according to claim 1, wherein: The first positioning mark is located on a side of the first rotation input member facing away from the base; the second positioning mark is located on a side of the rotation output member facing away from the base.

3. The medical device box according to claim 1 or 2, characterized in that: The first positioning mark is triangular, and the second positioning mark is triangular; and / or, The first positioning mark is a first positioning groove, and the second positioning mark is a second positioning groove.

4. The medical device box according to claim 1 or 2, wherein: The first rotation input member is a first rotation input gear, and the rotation output member is a rotation output gear, and the first rotation input gear is meshed with the rotation output gear.

5. The medical device box according to claim 4, wherein: The medical device box further includes a second rotation input gear rotatably disposed on the base and meshing with the rotation output gear; The number of teeth of the first rotation input gear, the number of teeth of the second rotation input gear, and the number of teeth of the rotation output gear are equal.

6. The medical device box according to claim 4, wherein: The medical device box further includes a first rotation input shaft, which is rotatably disposed on the base, and the first rotation input gear is fixed to the first rotation input shaft.

7. The medical device box according to claim 4, wherein: The medical device box also includes: an outer sleeve, the outer sleeve being passed through the base, and the rotary output gear being fixed to the outer sleeve; a waveguide rod, the waveguide rod being inserted into the outer sleeve, and the end of the waveguide rod being located outside the side of the base away from the rotary output gear and configured as a second cutting head; a push-pull member, radially extending from the waveguide rod, located between the waveguide rod and the outer sleeve, and having one end of the push-pull member located on the outside of the base facing away from the rotary output gear and configured to connect to a first cutting head, wherein the rotary output gear rotates to drive the outer sleeve, the push-pull member, and the waveguide rod to rotate; The waveguide rod is provided with a first through hole along its radial direction, the push-pull member has a second through hole corresponding to the first through hole, the outer sleeve has a third through hole corresponding to the first through hole, and the pin is inserted into the first through hole, the second through hole, and the third through hole. Wherein, the second through hole is a waist-shaped hole extending along the axial direction of the push-pull member.

8. The medical device box according to claim 7, wherein: The medical device box also includes: a third opening and closing input shaft rotatably disposed on the base, wherein the axial direction of the third opening and closing input shaft is parallel to the axial direction of the push-pull member; a driving wheel fixed to the third opening and closing input shaft, wherein the outer peripheral surface of the driving wheel is provided with a spiral groove; a lever rotatably disposed on the base, with a fulcrum of the lever located between the driving wheel and the push-pull member, one end of the lever being provided with a first protrusion that slidably engages with the spiral groove, and the other end of the lever being connected to the push-pull member; The rotation of the driving wheel can drive the lever to rotate around the fulcrum, so as to drive the push-pull member to move axially, so as to drive the first cutter head to open or close relative to the second cutter head.

9. An ultrasonic scalpel, characterized in that: It includes the medical device box, transducer and power box as described in any one of claims 1 to 8, the power box includes a first drive motor, the first drive motor is used to drive the first rotating input member to rotate, when the first drive motor is at zero position, the first positioning mark and the second positioning mark are aligned, and the transducer is detachably connected to the medical device box.

10. A surgical robot comprising a patient operating platform having a plurality of robotic arms, characterized in that: The ultrasonic scalpel according to claim 9 is detachably mounted on the robotic arm.

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